Autonomous wheelchair

CROSS-REFERENCE TO RELATED APPLICATION

0001This application claims the benefit of U.S. Provisional Application No. 62/308,458 filed on Mar. 15, 2016, the entire disclosure of which is incorporated herein by reference.

FIELD

0002The present disclosure relates to an autonomous wheelchair.

BACKGROUND

0003This section provides background information related to the present disclosure, which is not necessarily prior art. While current wheelchairs are suitable for their intended use, they are subject to improvement. The present teachings provide for an improved wheelchair that is advantageously autonomous and includes numerous mobility, safety, and convenience features as described herein.

DRAWINGS

0004The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

0005<figref idref="DRAWINGS">FIG. 1A</figref> is a perspective view of a wheelchair according to the present teachings;

0006<figref idref="DRAWINGS">FIG. 1B</figref> is another perspective view of the wheelchair according to the present teachings; and

0007<figref idref="DRAWINGS">FIG. 2</figref> illustrates a control module according to the present teachings.

0008Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings.

DETAILED DESCRIPTION

0009Example embodiments will now be described more fully with reference to the accompanying drawings.

0010With initial reference to <figref idref="DRAWINGS">FIGS. 1A and 1B</figref>, a wheelchair according to the present teachings is generally illustrated at reference numeral <b>10</b>. The wheelchair <b>10</b> generally includes wheels <b>12</b>, which support a seat <b>14</b>. The seat <b>14</b> includes seat pressure sensor <b>16</b>, which is configured to sense when a user is seated in the wheelchair <b>10</b> based on the amount of pressure exerted upon the seat <b>14</b>. The wheelchair <b>10</b> can be powered in any suitable manner. For example, the wheelchair <b>10</b> can be battery powered or manually powered. The wheelchair <b>10</b> can include pedals <b>18</b>, which are configured to propel the wheelchair <b>10</b> when actuated by a user.

0011The wheelchair <b>10</b> can be steered by the user using any suitable input or control device, such as a joystick <b>20</b>. The wheelchair <b>10</b> can also include any other suitable input device, such as a touch screen <b>22</b>, which may be configured to receive inputs in any suitable manner. For example, the touch screen <b>22</b> can be configured to display a keypad.

0012The wheelchair <b>10</b> can be outfitted with biometric sensors <b>24</b> in any suitable manner. For example, the biometric sensors <b>24</b> can be included within or around the seat <b>14</b>. The biometric sensors <b>24</b> can be any suitable sensors and monitoring devices configured to sense and monitor biometrics of a user seated in the wheelchair <b>10</b>. For example, the biometric sensors <b>24</b> can be configured to measure and monitor the user's temperature, heart rate, blood pressure, and any other parameters of interest.

0013The wheelchair <b>10</b> can further include a heating, ventilation, and air cooling (HVAC) system <b>26</b>. The HVAC system <b>26</b> is configured to facilitate regulation of the user's body temperature, as well as the environment about the user. The HVAC system <b>26</b> may take any suitable form, and may include air vents at or proximate to the seat <b>14</b>. The air vents may be configured to direct warm and/or cool air to the user. The air may be warmed and/or cooled by any suitable HVAC components within the wheelchair <b>10</b>, such as an evaporator and/or heater core. The seat <b>14</b> may also include a heating element <b>28</b> configured to heat the seat <b>14</b>. The heating element <b>28</b> can be any suitable heating element, and can include electrodes extending about the seat <b>14</b>.

0014The wheelchair <b>10</b> further includes an antenna <b>30</b>. The antenna <b>30</b> can be any suitable antenna. For example, the antenna <b>30</b> can be a Wi-Fi antenna configured to communicate with any suitable Wi-Fi system, a Bluetooth antenna, a cellular antenna, and/or a GPS antenna including a GPS receiver. As described further herein, the antenna <b>30</b> can be used for transmitting biometric information of the user gathered from the biometric sensors <b>24</b> to any suitable third party, such as a medical professional. The antenna <b>30</b> can also receive GPS signals for navigating the wheelchair <b>10</b>, particularly when the wheelchair <b>10</b> is autonomously driven. The antenna <b>30</b> can also be used for voice and/or visual communication with any third party.

0015A camera <b>32</b> can be included to facilitate video communication with a third party, as well as biometric identification of a user of the wheelchair <b>10</b>. The camera <b>32</b> can be configured to detect, for example, eye movement, facial features, etc. The camera <b>32</b> can also transmit images to third parties to allow third parties, such as medical professionals and/or family members, to monitor the user of the wheelchair <b>10</b> and the surrounding environment.

0016To facilitate voice communication with third parties, the wheelchair <b>10</b> can include a microphone <b>34</b>. The microphone <b>34</b> is also configured to receive voice commands from the user of the wheelchair <b>10</b>, or any other person proximate to the wheelchair <b>10</b> or communicating with the wheelchair <b>10</b> remotely, as described herein. The wheelchair <b>10</b> further includes speakers <b>36</b>, which can be used to broadcast navigational commands, broadcast the voice of third parties that the user is communicating with, sound warnings/alerts to the user, or for any other suitable purpose.

0017The wheelchair <b>10</b> further includes any suitable guidance sensor <b>38</b>. The guidance sensor <b>38</b> is configured to detect objects that may obstruct the path of travel of the wheelchair <b>10</b>, as well as identify any suitable markings for guiding the wheelchair <b>10</b> along a particular path. For example, the guidance sensor <b>38</b> is configured to identify lane markers in order to prevent the wheelchair <b>10</b> from straying from an intended lane of travel. The guidance sensor <b>38</b> is also configured to identify any other line or markings on a floor, street, or any other path of travel in order to facilitate travel of the wheelchair <b>10</b> and to keep the wheelchair <b>10</b> along a desire path of travel. The guidance sensor <b>38</b> can be any suitable sensor and can include, for example, a camera configured to recognize obstructions and route paths.

0018With continued reference to <figref idref="DRAWINGS">FIGS. 1A and 1B</figref>, and additional reference to <figref idref="DRAWINGS">FIG. 2</figref>, the control module <b>110</b> will now be described in detail. In this application the term “module” or the term “controller” may be replaced with the term “circuit.” The term “module” may refer to, be part of, or include processor hardware (shared, dedicated, or group) that executes code, and memory hardware (shared, dedicated, or group) that stores code executed by the processor hardware. The code is configured to provide the features of the modules, controllers, and systems described herein. The control module <b>110</b> may be any suitable controller or processor including, in communication with, or coupled to, the various modules <b>112</b>-<b>136</b> illustrated in <figref idref="DRAWINGS">FIG. 2</figref>, for example, as well as any other suitable modules or controllers configured to provide the features described herein.

0019The control module <b>110</b> includes a customization module <b>112</b>, which is configured to customize settings of the wheelchair <b>10</b> in any suitable manner. For example, when a user approaches and/or sits in the wheelchair <b>10</b>, the user will be recognized in any suitable manner, such as with face recognition using the camera <b>32</b>. The customization module <b>112</b> is configured to upload the user's biometric profile from any suitable source, such as a cloud-based medical records site. Based on the user's biometric profile or any customization settings, the control module <b>112</b> is configured to adjust the wheelchair <b>10</b>, such as adjust the HVAC <b>26</b>, the suspension, saved favorite location coordinates such as the user's home, preferred medical professional contact information, and family contact information, for example.

0020Manual drive module <b>114</b> is configured to allow the user to manually pilot the wheelchair <b>10</b>. For example, in response to inputs to the manual drive module <b>114</b> from the joystick <b>20</b>, the manual drive module <b>114</b> will move the wheelchair <b>10</b> as desired by the user. The user may also enter inputs for piloting the wheelchair <b>10</b> using the touch screen <b>22</b>, or any other suitable input device. The user may propel the wheelchair <b>10</b> manually by actuating the pedals <b>18</b>.

0021An autonomous drive module <b>116</b> is provided for autonomous piloting of the wheelchair <b>10</b>. The wheelchair <b>10</b> can be autonomously piloted in any suitable manner from any suitable source. For example and as described herein, if the control module <b>110</b> detects an emergency, such as a heart attack, the autonomous drive module <b>116</b> is configured to pilot the wheelchair <b>10</b> to the closest medical professional, or any other predetermined location where the user can receive suitable treatment. The autonomous drive module <b>116</b> can pilot the wheelchair <b>10</b> based on GPS coordinates received by the antenna <b>30</b>, for example. When the wheelchair <b>10</b> is being operated indoors, the antenna <b>30</b> can receive coordinate information from any other suitable source, such as directional beacons.

0022The wheelchair <b>10</b> can further include a biometrics detection module <b>118</b>. The biometrics detection module <b>118</b> is configured to detect, measure, and monitor, any suitable biometrics parameters of the user. For example, the biometrics detection module <b>118</b> is configured to detect when the user is fatigued, such as by tracking eye movement and through face recognition. The biometrics detection module <b>118</b> is further configured to detect heat stroke by monitoring the user's temperature based on inputs received from the biometrics sensor <b>24</b>, as well as monitor heart conditions based on inputs from a heart monitor and blood pressure system of the biometrics sensor <b>24</b>. A biometrics monitoring module <b>120</b> is configured to monitor inputs from the biometric sensors <b>24</b> and direct the inputs to various other modules in order to permit monitoring of various user conditions, as described herein.

0023The control module <b>110</b> includes a fatigue module <b>122</b>, which is configured to determine when the user has fallen asleep or reached a level of fatigue greater than a predetermined level. The fatigue module <b>122</b> detects the fatigue level of the user in any suitable manner, such as based on eye movement and facial recognition. When the fatigue module <b>122</b> determines that the user is asleep or has reached a level of fatigue greater than a predetermined level, the autonomous drive module <b>116</b> is engaged in order to pilot the wheelchair <b>10</b> to a predetermined location, such as the user's home. If the user awakens or becomes less fatigue, the user can override the autonomous drive module <b>116</b> in any suitable manner, such as by inputting a command using the joystick <b>20</b> and/or the touch screen <b>22</b>.

0024A temperature regulation module <b>124</b> is included to receive inputs from the biometric sensors <b>24</b> representing the temperature of the user. If the user's temperature is higher or lower than acceptable predetermined levels, the temperature regulation module <b>124</b> operates the HVAC <b>26</b> to generate heat or cold air in order to return the user's temperature to an acceptable level.

0025A heart attack detection module <b>126</b> is included to identify heart events experienced by the user, such as a heart attack. The heart events can be determined based on inputs from the biometric sensors <b>24</b>, such as heart monitor and/or blood pressure sensors. When the heart attack detection module <b>126</b> determines that a heart attack or other heart event has taken place, the heart attack detection module <b>126</b> engages the autonomous drive module <b>116</b> to pilot the wheelchair <b>10</b> to a predetermined area, such as a safe resting place, a medical professional, a hospital, a clinic, or any other suitable location. The heart attack detection module <b>126</b> is further configured to request assistance from emergency personnel (such as 911 emergency assistance) and alert family and medical professionals. The heart attack detection module <b>126</b> will send GPS coordinates of the wheelchair's location to these third parties, and locate the nearest person with a medical wheelchair application.

0026The present teachings further provide for a medical wheelchair application for a smartphone, tablet, desktop, wearable, or other computing device. The wheelchair user, family members, and medical personnel can all have the same login (name and password) to the application. The user can be logged in as they approach the chair with face recognition. The application can be configured such that a third party (family/doctor) can message the user, monitor the user, receive notification of the user's condition, and provide relief to the user via onboard systems, such as by remotely operating the HVAC. The application can be configured to notify third party users of the application, such as nearby pedestrians, that the user or another user is in distress in an effort to get the user the assistance that he/she needs. Emergency personnel can also access the application to gather information about the user when responding to a distress call from the user or other person/entity.

0027The wheelchair <b>10</b> further includes a low energy detection module <b>128</b>, which is configured to identify when the energy level of the wheelchair <b>10</b> is below a predetermined level. The wheelchair <b>10</b> can be powered in any suitable manner, such as by battery power. When the low energy detection module <b>128</b> determines that the battery power is below a predetermined level, the low energy detection module <b>128</b> will engage the autonomous drive module <b>116</b> to pilot the wheelchair <b>10</b> to the nearest refueling station, or other suitable predetermined location.

0028The wheelchair <b>10</b> further includes a navigation module <b>130</b>, which is configured to navigate the wheelchair <b>10</b> to any predetermined location, or any location input by the user, or input remotely by a third party. For example, if the user inputs a command or a request, such as by way of a voice command using the microphone <b>34</b>, informing the control module <b>110</b> that the user is lost, the navigation module <b>130</b> will plot a route for the wheelchair <b>10</b> to return to the user's home, or any other predetermined location. The navigation module <b>130</b> can engage the autonomous drive module <b>116</b> in order to autonomously pilot the wheelchair <b>10</b> to the user's home or other predetermined location.

0029The wheelchair <b>10</b> further includes a communications module <b>132</b>, which is configured to allow the user to communicate, such as by way of the antenna <b>30</b>, to any suitable third party, such as family members and/or medical professionals. The communications module <b>132</b> is configured to provide the voice and/or video communication. The communications module <b>132</b> is further configured to notify designated persons, such as family members and/or medical professionals, of the user's location, medical condition, and general status. For example, when the user sits within the wheelchair <b>10</b> and the user is detected as seated in the wheelchair <b>10</b> by the pressure sensor of the seat <b>14</b> and/or by the camera <b>32</b>, the communications module <b>132</b> is configured to send a signal to designated personnel and inform them that the user is seated within the wheelchair <b>10</b>. The communications module <b>132</b> is configured to then transmit the user's biometric information to these third parties, which allows the third parties to actively monitor the user's biometric parameters in real time. If irregularities are noticed by any of the third parties, they may send any suitable notification to one another. For example the communications module <b>132</b> can be configured for doctor monitoring. The doctor and/or the doctor's office can receive the biometric information of the user in real time in order to monitor the patient's well-being, and take action to provide necessary care as appropriate.

0030The communications module <b>132</b> can continuously listen for voice commands from the user or third parties. For example, if the user is communicating with his or her granddaughter through a cellular voice connection, the communications module <b>132</b> will be able to monitor the granddaughter's voice, and when she, for example, reminds her grandparent to take their medication in ten minutes, the communications module <b>132</b> will store this reminder, and generate an appropriate reminder to the user of the wheelchair <b>10</b> to take his or her medication at the appropriate time.

0031The wheelchair <b>10</b> further includes an exercise module <b>134</b>. The exercise module <b>134</b> is configured to disengage the autonomous drive when so instructed by the user, and allow the user to manually propel the wheelchair <b>10</b> using, for example, the pedals <b>18</b> in order to allow the user to exercise when desired. The biometric sensors <b>24</b> will monitor the biometric conditions of the user as he or she exercises, and the temperature regulation module <b>124</b> will operate the HVAC <b>26</b> to regulate the user's body temperature as he or she exercises, so as to help the user exercise safely.

0032The wheelchair <b>10</b> further includes a guidance module <b>136</b>. The guidance module <b>136</b> is in receipt of inputs from the guidance sensor <b>38</b> in order to help guide the wheelchair <b>10</b> along an intended path, such as along lane markers of a road, or any guidance markers. The guidance module <b>136</b> also allows the wheelchair <b>10</b> to avoid obstacles. For example, if the guidance sensor <b>38</b> detects an object in the path of the wheelchair <b>10</b>, such as a squirrel that has run in front of the wheelchair <b>10</b>, the guidance module <b>136</b> will engage the brakes of the wheelchair <b>10</b> to help avoid a collision.

0033The control module <b>110</b> is further configured to detect when the user has exited the wheelchair <b>10</b>. For example, if the pressure sensor of the seat <b>14</b> and/or the camera <b>32</b> detects that the user is no longer seated in the wheelchair <b>10</b>, the control module <b>110</b> sends a notification to designated third parties, such as family members and/or medical professionals, to inform them that the user has left the wheelchair <b>10</b>. The communications module <b>132</b> will then transmit video from the camera <b>32</b> to the designated third parties to allow them to monitor the user and the user's condition.

0034The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

0035Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

0036The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps may be employed.

0037When an element or layer is referred to as being “on,” “engaged to,” “connected to,” or “coupled to” another element or layer, it may be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly on,” “directly engaged to,” “directly connected to,” or “directly coupled to” another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items.

0038Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

0039Spatially relative terms, such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.